Systems and methods for guiding catheters using registered images

A method of performing a procedure within a body cavity of a patient, comprising:

• introducing an imaging probe into the body cavity, wherein the imaging probe comprises an imaging element and a first location element;
• generating image data of the body cavity with the imaging element;
• introducing a roving probe into the body cavity, wherein the roving probe comprises a functional element and a second location element;
• determining locations of the first and second elements in a three-dimensional coordinate system;
• registering the image data and the location of the functional element in the coordinate system based on the determined locations of the first and second location elements;
• displaying the registered image data and registered functional element location;
• and
• navigating the functional element within the body cavity by reference to the display.

A system for navigating within a body cavity of a patient, comprising:

• an imaging subsystem comprising an imaging device having an imaging element, and image processing circuitry coupled to the imaging element;
• a mapping subsystem comprising a mapping device having one or more mapping, and map processing circuitry coupled to the one or more mapping elements;
• and
• a three-dimensional coordinate registration subsystem comprising location and registration processing circuitry and first and second location elements respectively located on the imaging device and the mapping device, the location and registration processing circuitry being coupled to the image processing circuitry, the map processing circuitry, and the first and second location elements.

A system for navigating within a body cavity of a patient, comprising:

• an imaging subsystem comprising an imaging catheter having an imaging element, and image processing circuitry coupled to the imaging element;
• a mapping subsystem comprising a mapping device having one or more mapping elements, and map processing circuitry coupled to the one or more mapping elements;
• and
• a three-dimensional coordinate registration subsystem comprising location and registration processing circuitry, a first location element located on the imaging device, and a second location element located on the mapping device, the location and registration processing circuitry being coupled to the image processing circuitry, the mapping processing circuitry, the first location element, and the second location element.